# TeraRanger Rangefinders

TeraRanger provide a number of lightweight distance measurement sensor based on infrared Time-of-Flight (ToF) technology. They are typically faster and have greater range than sonar, and smaller and lighter than laser-based systems.

PX4 supports:
* [TeraRanger Evo 60m](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-60m/) (0.5 – 60 m)
* [TeraRanger Evo 600Hz](https://www.terabee.com/shop/lidar-tof-range-finders/teraranger-evo-600hz/) (0.75 - 8 m)

:::note PX4 also supports *TeraRanger One* (I2C adapter required). This has been discontinued.
:::

## 购买渠道

* TBD

## 针脚定义


## 布线

All TeraRanger sensors must be connected via the I2C bus.


## 软件配置

The sensors are enabled using the parameter [SENS_EN_TRANGER](../advanced_config/parameter_reference.md#SENS_EN_TRANGER) (you can set the type of sensor or that PX4 should auto-detect the type).

:::note
If using auto-detect for Evo sensors the minimum and maximum values for the range are set to the lowest and highest possible readings across the Evo family (currently 0.5 - 60 m). 
In order to use the correct max/min values the appropriate model of the Evo sensor should be set in the parameter (instead of using autodetect).
:::

:::tip
The driver for this rangefinder is usually present in firmware. If missing, you would also need to add the driver (`distance_sensor/teraranger`) to the board configuration.
:::

## 更多信息

* [Modules Reference: Distance Sensor (Driver) : teraranger](../modules/modules_driver_distance_sensor.md#teraranger)
